#pragma once

#include "ControlCore/Thing.h"

#include <time.h>

namespace Passer {
using namespace Control;
namespace RoboidControl {

/// @brief A Motor is a Thing which can move parts of the Roboid
/// @note Currently only rotational motors are supported
class Motor : public Thing {
public:
  /// @brief Default constructor for the Motor
  Motor();

  /// @brief Motor turning direction
  enum class Direction { Clockwise = 1, CounterClockwise = -1 };
  /// @brief The forward turning direction of the motor
  Direction direction = Direction::Clockwise;

  /// @brief Set the target motor speed
  /// @param speed The speed between -1 (full backward), 0 (stop) and 1 (full
  /// forward)
  virtual void SetTargetSpeed(float speed);
  /// @brief Get the current target speed of the motor
  /// @return The speed between -1 (full backward), 0 (stop) and 1 (full
  /// forward)
  virtual float GetTargetSpeed();

  /// @brief Get the current actual speed of the motor
  /// @return The speed between -1 (full backward), 0 (stop) and 1 (full
  /// forward)
  virtual float GetActualSpeed();

  virtual void Update(unsigned long currentTimeMs);

  float currentTargetSpeed = 0;

protected:
};

} // namespace RoboidControl
} // namespace Passer
using namespace Passer::RoboidControl;